Robot motion planning with virtually modified geometry
Boris Baginski · AIP conference proceedings · 1998
We present a novel approach to motion planning for robot manipulators in known environments. The key concept is to evaluate complete trajectories between start and goal in the workspace and to reshape them incrementally. The evaluation is based on virtual modifications, especially shrinking and expansion, of the geometry model of the robot. The trajectories are bended in space to be improved with respect to the evaluation. We initialize this planning with a possibly colliding connection, evaluate it in our world model and incrementally decrease the degree of collision for the whole trajectory. The planning is applicable to realistic robot tasks, even problems with a high number of degrees of freedom can be solved easily. The principle of planning with whole trajectories instead of a moving position along a trajectory can be seen as a shift of perspective that may serve as an example for other planning domains.